Anti-slip re-adhesion control based on disturbance observer considering bogie vibration

In order to suppress slip phenomenon, we have already proposed anti-slip re-adhesion control system based on disturbance observer, and we have confirmed that this system drives the train with high adhesion force utilization ratio. However, this system does not consider the vibration phenomenon of actual bogie dynamics of electric commuter train, tangential force estimation is affected by bogie vibration. Hence, the drive control system cannot determine the appropriate motor torque reference, and sometimes reduces the adhesion force utilization ratio. This paper proposes a new anti-slip re-adhesion control system based on the disturbance observer considering the first resonant frequency of bogie system. In order to confirm the validity of the performance of the proposed anti-slip re-adhesion control system, this paper confirms the validity of the proposed system by using the numerical simulation. This paper shows the numerical simulation results simulated using 4M1C motor car model which has a sensor-less vector control system. As the results, the proposed disturbance observer is effective for the vibration suppression of estimated tangential force. The numerical simulation results point out that the proposed adhesion control method has the fine performance on driving acceleration.